How can I add a mini sonar sensor GL041MT GL042MT to my ArduRover firmware?

U-Boat · October 21, 2024, 6:34pm

Thanks a lot - I´ll go with the UART version L042MT to see what´s below - a range of 6 m should be good enough for my purposes - I let you know the result

geofrancis · October 21, 2024, 6:35pm

the GL042MT is only 3m you need the GL041MT

Peter_Kim · October 22, 2024, 2:01am

@U-Boat @geofrancis

We have done a lot of testing, and there is a drawback to sonar sensors.

The object detected by the sonar must be exactly flat to the direction of the sonar sound wave.
If the angle is even slightly tilted, data will not be transmitted.

geofrancis · October 22, 2024, 4:28am

do you have a log?

I have only tested in shallow water so far.

Peter_Kim · October 23, 2024, 6:15am

I’ll test it again later this week.

Did you connect via i2C?

geofrancis · October 23, 2024, 9:18am

no i converted it to mavlink. are you trying to detect an object or the bottom?

Peter_Kim · October 31, 2024, 7:23am

I’m having a big problem right now.

I’m currently trying to use TF02-Pro LiDAR sensor and GL042MT (Arduino / Mavlink) together.

TF02-Pro LiDAR to CUAV V5 Nano FC Telemetry 2 port.
GL042MT to CUAV V5 Nano FC UART4 port.

I connected and set it up, but it only reads sonar sensor data.

However, when I disconnect the sonar sensor, TF02-Pro LiDAR data comes in.

It seems like there’s some kind of data conflict.

How can I fix it?

geofrancis · October 31, 2024, 10:18am

is it the mavlink adapter you are using? how are you powering the lidar? it should be connected to a different 5v source, not the telemetry port 5v.

Peter_Kim · October 31, 2024, 10:32am

https://ardupilot.org/copter/docs/common-benewake-tf02-lidar.html

I linked to the document by referring to this link.

geofrancis · October 31, 2024, 10:32am

how are you powering the pixhawk?

Peter_Kim · October 31, 2024, 10:36am

We use CUAV HV PMU.

Are you saying that I need to configure a separate 5V/GND for TF02-Pro, not the 5V/GND of the UART4 port?

geofrancis · October 31, 2024, 10:37am

I had not seen the page from the tf02, it does say connect it to the telemetry port. Im thinking of the lidar lite that needs separate power.

is it the mavlink adapter you are using on the sonar? is the lidar configured as rangefinder 2? if you try and set it as rangefinder 1 then it will conflict with the sonar.

Peter_Kim · October 31, 2024, 10:39am

I did it like this.

geofrancis · October 31, 2024, 10:40am

is it the mavlink adapter you are using on the sonar? is the lidar configured as rangefinder 2? if you try and set it as rangefinder 1 then it will conflict with the sonar.

Peter_Kim · October 31, 2024, 10:41am

I set the parameters.
RNGFND 1 → TF02-Pro
RNGFND 2 → Arduino + GL041MT

geofrancis · October 31, 2024, 10:43am

that wont work, the rangefinder mavlink adapter is set as rangefinder 1. you would need to change the adapter code to 2 for it to be rangefinder 2.

  uint8_t id = 1;                              /*< Onboard ID of the sensor*/

Peter_Kim · October 31, 2024, 10:50am

I think I’ve tried this too.

geofrancis · October 31, 2024, 10:52am

it wont work in its current configuration, you have the lidar set to rangefinder 1 and you have the sonar sending data to rangefinder 1.

Peter_Kim · November 7, 2024, 6:14am

int sysid = 1
uint8_t id = 1

Should I change both to 2?

U-Boat · December 1, 2024, 8:54pm

Meanwhile I got the GL042MT (UART) - I’d like to try the MAVlink version first - the Arduino Uno is to bulky to fit inside the pressure hull - I have an Arduino Nano Every at hand - do I need to make adjustments in the .ino file because its got a different processor (ATmega 4809) instead of the ATmega 328 on the Uno or Nano?